相关论文: Mix3D: Out-of-Context Data Augmentation for 3D Sce…

Zero-shot 3D object classification is crucial for real-world applications like autonomous driving, however it is often hindered by a significant domain gap between the synthetic data used for training and the sparse, noisy LiDAR scans…

A proper scene representation is central to the pursuit of spatial intelligence where agents can robustly reconstruct and efficiently understand 3D scenes. A scene representation is either metric, such as landmark maps in 3D reconstruction,…

Feature disentanglement of the foreground target objects and the background surrounding context has not been yet fully accomplished. The lack of network interpretability prevents advancing for feature disentanglement and better…

Segmenting humans in 3D indoor scenes has become increasingly important with the rise of human-centered robotics and AR/VR applications. To this end, we propose the task of joint 3D human semantic segmentation, instance segmentation and…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Generating high-fidelity 3D indoor scenes remains a significant challenge due to data scarcity and the complexity of modeling intricate spatial relations. Current methods often struggle to scale beyond training distribution to dense scenes…

Current monocular 3D detectors are held back by the limited diversity and scale of real-world datasets. While data augmentation certainly helps, it's particularly difficult to generate realistic scene-aware augmented data for outdoor…

Scene understanding is a prerequisite to many high level tasks for any automated intelligent machine operating in real world environments. Recent attempts with supervised learning have shown promise in this direction but also highlighted…

We present SceneSuggest: an interactive 3D scene design system providing context-driven suggestions for 3D model retrieval and placement. Using a point-and-click metaphor we specify regions in a scene in which to automatically place and…

The segmentation of organs in volumetric medical images plays an important role in computer-aided diagnosis and treatment/surgery planning. Conventional 2D convolutional neural networks (CNNs) can hardly exploit the spatial correlation of…

Last-mile delivery systems commonly propose the use of autonomous robotic vehicles to increase scalability and efficiency. The economic inefficiency of collecting accurate prior maps for navigation motivates the use of planning algorithms…

Change detection (CD) is to decouple object changes (i.e., object missing or appearing) from background changes (i.e., environment variations) like light and season variations in two images captured in the same scene over a long time span,…

Most deep pose estimation methods need to be trained for specific object instances or categories. In this work we propose a completely generic deep pose estimation approach, which does not require the network to have been trained on…

Deep neural networks have shown outstanding performance in computer vision tasks such as semantic segmentation and have defined the state-of-the-art. However, these segmentation models are trained on a closed and predefined set of semantic…

Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…

Context is of fundamental importance to both human and machine vision; e.g., an object in the air is more likely to be an airplane than a pig. The rich notion of context incorporates several aspects including physics rules, statistical…

We present a deep generative scene modeling technique for indoor environments. Our goal is to train a generative model using a feed-forward neural network that maps a prior distribution (e.g., a normal distribution) to the distribution of…

Contemporary point cloud segmentation approaches largely rely on richly annotated 3D training data. However, it is both time-consuming and challenging to obtain consistently accurate annotations for such 3D scene data. Moreover, there is…

Recent enhancements of deep convolutional neural networks (ConvNets) empowered by enormous amounts of labeled data have closed the gap with human performance for many object recognition tasks. These impressive results have generated…

3D scene reconstruction from 2D images has been a long-standing task. Instead of estimating per-frame depth maps and fusing them in 3D, recent research leverages the neural implicit surface as a unified representation for 3D reconstruction.…